CN109752717A

CN109752717A - Device and method for the sensing data in associated vehicle

Info

Publication number: CN109752717A
Application number: CN201810685694.5A
Authority: CN
Inventors: 李勋; 张炯琁; 尹潽泳; 韩瑟基; 元智恩; 梁旭一
Original assignee: Hyundai Motor Co; Kia Motors Corp
Current assignee: Hyundai Motor Co; Kia Corp
Priority date: 2017-11-07
Filing date: 2018-06-28
Publication date: 2019-05-14
Anticipated expiration: 2038-06-28
Also published as: KR20190051601A; CN109752717B; US11328516B2; US20190138825A1; KR102371616B1

Abstract

The disclosure provides the device and method for the sensing data in associated vehicle.The device includes the processor for being configured to multiple sensors of sensing external object and being configured to be electrically connected with multiple sensors.Processor is configured so that multiple sensors to obtain the sensor data set of the target positioned at vehicle periphery, the at least part for the sensing data that the curvature of the road travelled based on target information, vehicle or target and at least one of the type of sensor for being configured to sensing target include to select sensing data to concentrate, and generate by least part of associated sensor data the tracking data of target.

Description

Device and method for the sensing data in associated vehicle

Cross reference to related applications

This application claims on November 07th, 2017 the 10-2017-0147439 South Korea patent application submitted it is preferential Power and equity, entire contents are incorporated herein by reference.

Technical field

This disclosure relates to a kind of device and method for being associated with the data obtained by multiple sensors.

Background technique

Statement in this section only provides background information relevant to the disclosure, and may not constitute the prior art.

With the development of the automobile industry, surrounding vehicles can be tracked and obtain relevant to surrounding vehicles more by having developed The system of kind information, to provide convenience to driver.For example, such as front radar, angle radar, forward sight photograph can be used in vehicle The various sensors of machine, side view camera, rear view cameras, vision and light detection and range unit (LIDAR) are closed In the information for the surrounding vehicles being located in all directions.Vehicle can be by being associated with the biography obtained by each of each sensor Sensor data generate sensor fused data.As a result, it is possible to increase the essence of the data obtained by each of each sensor Exactness.Vehicle can be associated with the sensor fused data of present frame by the sensor fused data of previous frame.

Since running environment is (that is, the sensing range of each of the movement of vehicle, the movement of target, multiple sensors Deng), it may be difficult to the data of previous frame are associated with the data of present frame.In this case, for the elder generation of same target The attribute information (for example, information of the type (vehicle, pedestrian etc.) of instruction target) and mark of the sensor fused data of previous frame According with (ID) (for example, the unique identification value for distributing to target) can be with the sensor fused data of the present frame for same target Attribute information and ID it is different.When vehicle data is associated with failure, the behaviour of the various systems for the sensor supported by vehicle is used Work may also fail.

Summary of the invention

The one side of the disclosure provides a kind of device and method for associated sensor data, to consider vehicle comprehensively , the data obtained by sensor are associated with robust fashion in the case where surrounding vehicles, running environment etc..

In in one aspect of the present disclosure, a kind of device for the sensing data in associated vehicle may include: more A sensor is configured to sensing external object；And processor, it is configured to be electrically connected with multiple sensors.Processor can be with Multiple sensors are configured so as to obtain the sensor data set of the target positioned at vehicle periphery, at least based on target information, The curvature for the road that vehicle or target are travelled is configured to sense the type of the sensor of target to select sensor data set In include sensing data at least part, and target is generated by least part of associated sensor data Tracking data.

In some embodiments of the disclosure, multiple sensors may include radar and camera.

In some embodiments of the disclosure, multiple sensors may include front radar, forward sight camera and side view Camera.

In some embodiments of the disclosure, sensor data set may include being passed by each of multiple sensors The sensing data that sensor obtains.

In some embodiments of the disclosure, processor is configurable to: the road travelled based on target information, vehicle The setting of at least one of the curvature on road and the type of sensor for being configured to sensing target is for determining sensor data set Validity region；And sensing data is selected to concentrate sensor number corresponding with the region in the sensing data for including According to.

In some embodiments of the disclosure, target information may include the distance between vehicle-to-target, vehicle At least one of direction of motion and the type of target of difference, target between speed and the speed of target.

In some embodiments of the disclosure, processor is configurable to: being set based on the distance between vehicle-to-target Determine the region for determining the validity of sensor data set；And sensing data is selected to concentrate in the sensing data for including Sensing data corresponding with the region.

In some embodiments of the disclosure, processor is configurable to: when the distance between vehicle-to-target becomes Increase the region when bigger than preset distance；And reduce the area when the distance between vehicle-to-target becomes smaller than preset distance Domain.

In some embodiments of the disclosure, processor is configurable to: the speed of speed and target based on vehicle Between difference set the region for determining the validity of sensor data set；And it selects sensing data to concentrate and includes Sensing data corresponding with the region in sensing data.

In some embodiments of the disclosure, processor is configurable to: when vehicle speed and target speed it Between difference increase the region when becoming larger than predetermined value；And when the difference between the speed of vehicle and the speed of target becomes Reduce the region when less than predetermined value.

In some embodiments of the disclosure, processor is configurable to: being set based on the curvature of road for determining The region of the validity of sensor data set；And select sensing data concentrate include sensing data in the region pair The sensing data answered.

In some embodiments of the disclosure, processor is configurable to: when the curvature of road becomes larger than predetermined model Increase the region when enclosing；And reduce the region when the curvature of road becomes smaller than preset range.

In some embodiments of the disclosure, processor is configurable to: the direction of motion setting based on target is used for Determine the region of the validity of sensor data set；And sensing data is selected to concentrate the area sensing data Zhong Yugai for including The corresponding sensing data in domain.

In some embodiments of the disclosure, processor is configurable to increase the region in the direction of motion of target Length.

In some embodiments of the disclosure, processor is configurable to: sensor-based type set is for true Determine the region of the validity of sensor data set；And select sensing data concentrate include sensing data in the region Corresponding sensing data.

In some embodiments of the disclosure, processor is configurable to: based on the type set of target for determining The region of the validity of sensor data set；And select sensing data concentrate include sensing data in the region pair The sensing data answered.

According to another aspect of the present disclosure, a kind of method for the sensing data in associated vehicle may include: to make The sensor data set of the target positioned at vehicle periphery is obtained with multiple sensors of vehicle；Based on target information, vehicle or The curvature for the road that target is travelled and at least one of type of sensor of sensing target is configured to select to sense At least part for the sensing data for including in device data set；And at least part next life for passing through associated sensor data At the tracking data of target.

In some embodiments of the disclosure, selecting at least part of sensing data may include: based on target The curvature of the road that information, vehicle are travelled and be configured to sensing target sensor type at least part set Determine the region for determining the validity of sensor data set；And sensing data is selected to concentrate in the sensing data for including Sensing data corresponding with the region.

In some embodiments of the disclosure, target information may include: the distance between vehicle-to-target, vehicle At least one of direction of motion and the type of target of difference, target between speed and the speed of target.

According to description provided herein, other application field be will become obvious.It should be understood that description and specific Example for illustration purposes only, is not intended to limit the scope of the present disclosure.

Detailed description of the invention

In order to better understand the disclosure, it is now described with reference to the drawings the disclosure provided in an illustrative manner Various embodiments, in which:

Fig. 1 is the block diagram for showing the configuration of the device for associated sensor data；

Fig. 2 is the block diagram of the configuration for the program module for including in the device shown for associated sensor data；

Fig. 3 is the flow chart for showing the algorithm used in the device for associated sensor data；

Fig. 4 is the diagram for showing the exemplary operation of the device for associated sensor data；

Fig. 5 is the diagram for showing the exemplary operation of the device for associated sensor data；

Fig. 6 is the diagram for showing the exemplary operation of the device for associated sensor data；

Fig. 7 is the diagram for showing the exemplary operation of the device for associated sensor data；

Fig. 8 is the diagram for showing the exemplary operation of the device for associated sensor data；

Fig. 9 is the diagram for showing the exemplary operation of the device for associated sensor data；

Figure 10 is the diagram for showing the exemplary operation of the device for associated sensor data；

Figure 11 is the flow chart for showing the method for associated sensor data；And

Figure 12 is the block diagram for showing the configuration of computing system.

Attached drawing described herein is for illustration purposes only, it is no intended to limit the scope of the present disclosure in any way.

Specific embodiment

It is described below and is substantially only exemplary, it is no intended to limit the disclosure, application or purposes.It should be understood that It is that throughout the drawings, corresponding appended drawing reference indicates identical or corresponding component and feature.

Hereinafter, it will be described in detail with reference to the accompanying drawings embodiment of the present disclosure.It is attached in the element addition for each attached drawing Icon clocks, although identical element is shown on different attached drawings, it is noted that, identical element is having the same Appended drawing reference.In addition, when describing implementation of the disclosure mode, if it is determined that the detailed description mould of related known configuration or function The main idea for having pasted embodiment of the present disclosure, then omit it.

In the element for describing implementation of the disclosure mode, can used herein such as first, second, first, Second, A, B, the words such as (a) and (b).These words are only used for distinguishing element and another element, no matter respective element Inherent feature, order or sequence how, do not limit respective element.Unless otherwise defined, otherwise used herein includes technology Or all terms of scientific term have meaning identical with the normally understood meaning of disclosure those skilled in the art.? Those terms defined in usually used dictionary should be interpreted as having contain identical with the context implication in related fields Justice, and should not be interpreted as having ideal or meaning too formal, unless explicitly defining in this application.

Fig. 1 is the frame for showing the configuration of the device for associated sensor data in some embodiments of the disclosure Figure.

Referring to Fig.1, (for ease of description, hereinafter referred to as the device 100 of the sensing data in associated vehicle " device 100 ") it may include multiple sensors 111 to 113 and processor 120.The device 100 of Fig. 1 can be loaded into vehicle In.

Each of multiple sensors 111 to 113 are configurable to sensing external object.Multiple sensors 111 to Each of 113 are configurable to obtain the information about external object.For example, every in multiple sensors 111 to 113 One can obtain the position about external object, the speed of external object, the moving direction of external object and/or external right The information of the type (for example, vehicle, pedestrian, bicycle, motorcycle etc.) of elephant.Multiple sensors 111 to 113 may include for example Radar and camera.For example, first sensor 111 can be front radar, second sensor 112 can be forward sight camera, And 3rd sensor 113 can be side view camera.In Fig. 1, the device including three sensors 111 to 113 is described 100 illustrative embodiments.However, embodiment is without being limited thereto.For example, device 100 may include two or more biographies Sensor may include different types of sensor, such as laser scanner and/or angle radar (corner radar).

Processor 120 can be electrically connected with multiple sensors 111 to 113.Processor 120 can control multiple sensors 111 to 113, and various data processings and various arithmetical operations can be executed.

In some embodiments of the disclosure, processor 120 can be used multiple sensors 111 to 113 and is located at The sensor data set of the target of vehicle periphery.Processor 120 can by each of multiple sensors 111 to 113 come Detect target.Sensor data set may include the sensor number obtained by each of multiple sensors 111 to 113 According to.For example, first sensor 111, which can be used, in processor 120 obtains the first data, the acquisition of second sensor 112 can be used Second data, and 3rd sensor 113 can be used and obtain third data.Processor 120 can obtain including the first data, The set of the sensing data of second data and third data.

In some embodiments of the disclosure, processor 120 can be based on about the information of target, vehicle or target institute The curvature of the road of traveling and sense target sensor type at least part select sensor data set At least partially.Information about target may include for example about the distance between vehicle-to-target, the speed of vehicle and mesh At least part of information in the direction of motion of difference, target and the type of target between target speed.Processor 120 Can curvature based on the road that the information about target, vehicle are travelled and sense target sensor type in extremely Few a part, to set the region for determining the validity of sensor data set.The region can be for gating (gating) region of sensor data set.Processor 120 can be concentrated in the sensing data for including in sensing data and be selected Select sensing data corresponding with setting regions.Selected sensing data can be used to execute sensor in processor 120 Fusion.The description operated in detail that setting is used to determine the region of validity will be provided referring to Fig. 5 to Figure 10.

In some embodiments of the disclosure, processor 120 can be by being associated at least the one of selected sensing data Part generates the tracking data of target.Tracking data can be the target data obtained by sensor fusion.Processor 120 It can store the tracking data of previous frame.Processor 120 can predict the movement of target by using the tracking data of previous frame To obtain prediction data.Processor 120 can be by selected sensing data and the data phase predicted from the tracking data of previous frame Association.The coordinate of the coordinate and selected sensing data that include in the tracking data of such as previous frame can be used in processor 120 Carry out associated data.Processor 120 can generate the tracking data of the present frame of target by being associated with.

Fig. 2 is the program for including in the device for associated sensor data shown in some embodiments of the disclosure The block diagram of the configuration of module.

Referring to Fig. 2, the device in some embodiments of the disclosure may include program module.Program module can be used for Sensor fusion, can obtain target data from multiple sensors, and the sensor fusion tracking data of target can be generated. Program module may include preprocessing module 210, relating module 220, tracking module 230 and tracing management module 240.

Preprocessing module 210 can receive signal from multiple sensors.Preprocessing module 210 can execute the letter received Number time/spatial synchronization.The target classification that preprocessing module 210 can will test is mobile object or stopping object.In advance Processing module 210 can execute each sensor in multiple sensors effective verifying (for example, fault detection be isolated (FDI)-tracking continuity tracks mobile history, measurement result relatively etc.).

Relating module 220 can determine between the sensor fusion tracking data of previous frame and the sensing data of present frame Association.As a definitive result, relating module 220 can change associated diagram.Relating module 220 can be used not associated The sensing data of present frame generates new associated diagram (for example, tracking candidate).Relating module 220 can verify the biography of previous frame Being associated between sensor fusion tracking data and the sensing data of present frame.

Tracking module 230 can the more location information of new sensor fusion tracking data, velocity information and evaluated error Information.Tracking module 230 can update evaluated error covariance information.

Tracing management module 240 can execute the management of the life cycle of sensor fusion tracking data (for example, initial Change, confirm or terminate).Tracing management module 240 can by sensor fusion tracking data classification be mobile object data or Stop the data of object.Tracing management module 240 can execute the validity of sensor fusion tracking data verifying (FDI with Track continuity, the mobile history of tracking, spatial simlanty, chronotaxis etc.).

Fig. 3 is to show the algorithm according to used in the device for associated sensor data of embodiment of the present disclosure Flow chart.

Referring to Fig. 3, arest neighbors (NN) data association technique is can be used in the device in some embodiments of the disclosure.NN Data association technique can be easily carried out, and can provide accurate knot in the movement of system and accurate measurement model Fruit.Here, when executing NN data association technique, it may occur however that unsuitable data correlation and due to unsuitable data close Connection, which may cause using unsuitable measured value, generates sensor fusion tracking data.This may result under technical performance Drop.Device in some embodiments of the disclosure can provide the function of the performance for enhancing operation relevant to data correlation It can be (for example, new breath (innovations) measures and calculates result verification, measurement result association and combined measurement knot Fruit).

Fig. 4 is the exemplary operation for showing the device for associated sensor data in some embodiments of the disclosure Diagram.

Referring to Fig. 4, the device in some embodiments of the disclosure can determine the fusion of the sensor at previous time with Being associated between track data and the sensing data newly measured.For example, the device can be based on by camera, angle radar and radar Sensing data (the z measured at first frame₂) 411 to 413 generate the sensor fusion tracking number of first frame (previous frame) According to.The device can predict the movement of target based on the sensor fusion tracking data of first frame, and can predict will be The sensor fusion tracking data obtained at second frame (present frame)420.The device can be obtained by camera, angle radar Sensing data (the z measured at the second frame with radar₁) 431 to 433.The device can be in the number measured by multiple sensors There is the sensing data 411 to 413 and 431 to 433 for the coordinate being located in domain (gate) 450 according to middle selection.For selecting domain The example formula of data in 450 can be following formula 1.

[formula 1]

First formula above can be mahalanobis distance formula.Z can indicate the sensing data measured,It can be with table Show the sensor fusion tracking data of prediction, d can indicate the coordinate of the sensing data measured and the sensor fusion of prediction The distance between coordinate of tracking data, S can indicate covariance matrix, and γ can be with representative domain threshold value.The device can be with Select the sensing data for meeting the first formula as effective sensor data.Second formula and third formula can be from One formula export.The domain of ellipse can be formed by formula 1, and domain threshold value can be according to will retouch referring to Fig. 5 to Figure 10 The case where stating and change.

The device can measure the coordinate of the sensor fusion tracking data 420 of prediction with by camera in first frame The distance between the coordinate of sensing data 411 and prediction sensor fusion tracking data 420 coordinate with by camera Distance between the coordinate of the sensing data 431 measured at the second frame is compared.The device can choose have with it is pre- The sensing data 431 of the coordinate of the coordinate relative close of the sensor fusion tracking data 420 of survey.The device can be with similar Mode select sensing data 432 and sensing data 433.Selected sensing data 431 to 433 can be used in the device Generate the sensor fusion tracking data of the second frame.

Fig. 5 is the exemplary operation for showing the device for associated sensor data in some embodiments of the disclosure Diagram.

Vehicle 510 shown in fig. 5 may include the device 100 of Fig. 1.In the description of Fig. 5, it is described as being held by vehicle 510 Capable operation by the processor 120 of device 100 it is understood that be controlled.

In some embodiments of the disclosure, vehicle can be set based on the distance between vehicle-to-target for true Determine the region of the validity of sensor data set, and can sensing data concentrate in the sensing data for including selection with The corresponding sensing data of setting regions.For example, vehicle can increase the region when the distance between vehicle-to-target is elongated Area.When the distance between vehicle-to-target shortens, vehicle can reduce the area in the region.

Referring to Fig. 5, its sensor is can be used to detect the vehicle around vehicle 510 in vehicle 510.For example, vehicle 510 can To detect the target vehicle 520 for being located at 510 front of vehicle.When target vehicle 520 accelerates so that target vehicle 520 and vehicle The distance between 510 it is elongated when, the uncertainty of the measured value of target vehicle 520 may be will increase.Therefore, when 510 He of vehicle When the distance between target vehicle 520 is elongated, vehicle 510 can increase the size in domain.

Fig. 6 is the exemplary operation for showing the device for associated sensor data in some embodiments of the disclosure Diagram.

Vehicle 610 shown in Fig. 6 may include the device 100 of Fig. 1.In the description of Fig. 6, it is described as by vehicle 610 The operation of execution by the processor 120 of device 100 it is understood that be controlled.

In some embodiments of the disclosure, vehicle can difference between the speed based on vehicle and the speed of target It sets the region for determining the validity of sensor data set, and the sensor for including can be concentrated in sensing data Sensing data corresponding with setting regions is selected in data.For example, when the difference between the speed of vehicle and the speed of target When becoming larger, vehicle can increase the area in the region.When the difference between the speed of vehicle and the speed of target becomes smaller, vehicle It can reduce the area in the region.

Referring to Fig. 6, the vehicle around its sensor detected vehicle 610 is can be used in vehicle 610.For example, vehicle 610 can be with Detect the second target vehicle positioned at the first object vehicle 620 of 610 left front of vehicle and positioned at 610 right front of vehicle 630.Vehicle 610 and first object vehicle 620 can be at low speed, and the second target vehicle 630 can run at high speed.At this In the case of kind, vehicle 610 may be faster than vehicle 610 relative to first object relative to the relative velocity of the second target vehicle 630 The relative velocity of vehicle 620.When relative velocity faster when, the uncertainty of measured value may be higher.Therefore, vehicle 610 can The size for being directed to the domain of the second target vehicle 630 to be set greater than to the size in the domain for first object vehicle 620.

Fig. 7 is the exemplary operation for showing the device for associated sensor data in some embodiments of the disclosure Diagram.

Vehicle 710 shown in Fig. 7 may include the device 100 of Fig. 1.In the description of Fig. 7, it is described as being held by vehicle 710 Capable operation by the processor 120 of device 100 it is understood that be controlled.

In some embodiments of the disclosure, vehicle can be set based on the curvature of road for determining sensor number According to the region of the validity of collection, and selection and setting regions pair in the sensing data for including can be concentrated in sensing data The sensing data answered.For example, vehicle can increase the area in the region when the curvature of road becomes larger.When the curvature of road When becoming smaller, vehicle can reduce the area in the region.

Referring to Fig. 7, the vehicle around its sensor detected vehicle 710 is can be used in vehicle 710.For example, vehicle 710 can be with Detect the first object vehicle 720 for being located at 710 front of vehicle and the second target carriage positioned at 720 front of first object vehicle 730.Vehicle 710, which can obtain cartographic information and can use cartographic information, obtains 720 position of first object vehicle 730 position of road curvature information and the second target vehicle road curvature information.Second target vehicle, 730 institute is in place The curvature set can be greater than the curvature of 720 position of first object vehicle.When the curvature of target position becomes larger, measurement The uncertainty of value may be higher.Therefore, the size in the domain for the second target vehicle 730 can be set as by vehicle 710 Greater than the size in the domain for first object vehicle 720.

Fig. 8 is the exemplary operation for showing the device for associated sensor data in some embodiments of the disclosure Diagram.

Vehicle 810 shown in Fig. 8 may include the device 100 of Fig. 1.In the description of Fig. 8, it is described as by vehicle 810 The operation of execution by the processor 120 of device 100 it is understood that be controlled.

In some embodiments of the disclosure, vehicle can be set based on the direction of motion of target for determining sensing The region of the validity of device data set, and selection and setting area in the sensing data for including can be concentrated in sensing data The corresponding sensing data in domain.For example, vehicle can increase the length in the region.

Referring to Fig. 8, the vehicle around its sensor detected vehicle 810 is can be used in vehicle 810.Vehicle 810 can detecte To the first object vehicle 820 of the right direction traveling in vehicle 810 and the second target vehicle of the traveling ahead to vehicle 810 830.Vehicle 810 can obtain the direction of motion about each of first object vehicle 820 and the second target vehicle 830 Information.When the object moves, the uncertainty of the measured value of the direction of motion may be got higher.For example, working as target in the direction of the x axis When mobile, the uncertainty of the measured value of x-axis coordinate may be got higher.Therefore, vehicle 810 can will be directed to first object vehicle 820 domain is set as longer in the horizontal direction, and can will be set as the domain of the second target vehicle 830 in vertical side It is longer upwards.

Fig. 9 is the exemplary operation for showing the device for associated sensor data in some embodiments of the disclosure Diagram.

Vehicle 910 shown in Fig. 9 may include the device 100 of Fig. 1.In the description of Fig. 9, it is described as being held by vehicle 910 Capable operation by the processor 120 of device 100 it is understood that be controlled.

In some embodiments of the disclosure, vehicle can be set with sensor-based type for determining sensor The region of the validity of data set, and selection and setting regions in the sensing data for including can be concentrated in sensing data Corresponding sensing data.

Referring to Fig. 9, the vehicle around its sensor detected vehicle 910 is can be used in vehicle 910.For example, vehicle 910 can be with Detect first object vehicle 920, the second target vehicle 930 and third target vehicle 940.Before vehicle 910 can be used only Portion's detections of radar first object vehicle 920.The accuracy of the lengthwise position of front radar may be higher, but the transverse direction of front radar The accuracy of position may be lower.Accordingly, it is considered to the spy of the front radar to the sensor as sensing first object vehicle 920 Property, vehicle 910 can set longer domain in the lateral direction relative to first object vehicle 920.Before vehicle 910 can be used Portion's radar and forward sight camera detect the second target vehicle 930.When using two sensor detection targets, survey can be improved The accuracy of amount.Therefore, the size in the domain for the second target vehicle 930 can be set as smaller by vehicle 910.Vehicle 910 Side detections of radar third target vehicle 940 can be used.The accuracy of side radar in the longitudinal and lateral directions may be used With similar.Accordingly, it is considered to arrive the characteristic of side radar, vehicle 910 can set circular domain for third target vehicle 940.

Figure 10 is the exemplary behaviour for showing the device for associated sensor data in some embodiments of the disclosure The diagram of work.

Vehicle 1010 shown in Fig. 10 may include the device 100 of Fig. 1.In the description of Figure 10, it is described as by vehicle 1010 operations executed by the processor 120 of device 100 it is understood that be controlled.

In some embodiments of the disclosure, vehicle can be set based on the type of target for determining sensor number According to the region of the validity of collection, and selection and setting regions pair in the sensing data for including can be concentrated in sensing data The sensing data answered.

Referring to Fig.1 0, the various objects around its sensor detected vehicle 1010 can be used in vehicle 1010.For example, vehicle 1010 can detecte first object vehicle 1020, the second target vehicle 1030 and pedestrian 1040.When for first object vehicle 1020 and pedestrian 1040 when setting identical domain, it can will be about the data of first object vehicle 1020 and about pedestrian's 1040 Data correlation, and can will be about the data of first object vehicle 1020 and about the data fusion of pedestrian 1040.Vehicle 1010, which can be used its sensor, obtains the type about 1010 surroundings of vehicle (for example, first object vehicle 1020, second Target vehicle 1030, pedestrian 1040, bicycle (not shown), motorcycle (not shown) etc.) information.Vehicle 1010 can be by domain Form be set as being suitable for the type of 1010 surroundings of vehicle.Vehicle 1010 can be for first object vehicle 1020 and the Each of two target vehicles 1030 set oval domain, and can set for pedestrian 1040 than being directed to first object vehicle 1020 and second each in target vehicle 1030 the small circular domain in domain.

Figure 11 is the flow chart for showing the method for associated sensor data in some embodiments of the disclosure.

Hereinafter, it can be assumed that the device 100 of Fig. 1 executes the processing of Figure 11.Further, in the description of Figure 11, It is described as the operation executed by device it is understood that be controlled by the processor 120 of device 100.

Referring to Fig.1 1, in operation 1110, which can be used multiple sensors to obtain the mesh positioned at vehicle periphery Target sensor data set.For example, the first sensor data that first sensor obtains target can be used in device, can be used Second sensor obtains the second sensor data of target, and the 3rd sensor that 3rd sensor obtains target can be used Data.

In operation 1120, device curvature based on information, road about target and can sense the sensing of target At least part for the sensing data that at least part in the type of device includes to select sensing data to concentrate.For example, Device can curvature based on the road where the distance between device and target, the size of the relative velocity of target, target, mesh The target direction of motion, the type of sensor for sensing target and/or the type of target set domain, and can choose domain Zhong Bao The sensing data included.

In operation 1130, device can be generated by being associated at least part of selected sensing data target with Track data.For example, device can calculate the sensing data of the tracking data and present frame predicted from the tracking data of previous frame The distance between, and the sensing data that is closer can be used to generate the tracking data of present frame.

Figure 12 is the block diagram for showing the configuration of the computing system in some embodiments of the disclosure.

Referring to Fig.1 2, above-mentioned user's input processing method in some embodiments of the disclosure can pass through computing system To implement.Computing system 1000 may include at least one processor 1100, memory being connected to each other via bus 1200 1300, user interface input unit 1400, user interface output device 1500, storage device 1600 and network interface 1700.

Processor 1100 can be the place for executing the instruction being stored in memory 1300 and/or storage device 1600 The central processing unit (CPU) or semiconductor devices of reason.Each of memory 1300 and storage device 1600 can wrap Include various types of volatibility or non-volatile memory medium.For example, memory 1300 may include read-only memory (ROM) and Random access memory (RAM).

Therefore, the operation of the method or algorithm that describe in conjunction with some embodiments of the disclosure disclosed in this specification can Directly to be implemented by the hardware module that is executed by processor 1100, software module or combinations thereof.Software module can be resident In such as RAM, flash memory, ROM, erasable programmable ROM (EPROM), electric EPROM (EEPROM), register, hard disk, move On the storage medium (that is, memory 1300 and/or storage device 1600) of disk or CD ROM (CD-ROM).Exemplary memory is situated between Matter may be coupled to processor 1100.Processor 1100 can read information from storage medium and can write information into storage In medium.Alternatively, storage medium can be integrated with processor 1100.Pocessor and storage media may reside within dedicated integrated In circuit (ASIC).ASIC may reside in user terminal.Alternatively, pocessor and storage media can be used as user terminal Independent assembly it is resident.

The device and method for associated sensor data in some embodiments of the disclosure can be by being based on Value relevant to data correlation is dynamically adjusted about the information of target, road curvature, sensor type etc. to come with robust fashion Keep the association of the data obtained by multiple sensors.

It is furthermore possible to also provide the various effects directly or indirectly determined by the disclosure.

Although describing the disclosure referring to illustrative embodiments, to those skilled in the art show and It is clear to, can make various changes and modifications without departing from the spirit and scope of the disclosure.

Therefore, the illustrative embodiments of the disclosure are not limiting, and are exemplary, and the spirit of the disclosure It is without being limited thereto with range.Spirit and scope of the present disclosure and the disclosure should be explained by appended claims, it should be appreciated that All technical ideas to be equal with the disclosure are included in spirit and scope of the present disclosure.

The description of the disclosure is substantially only exemplary, therefore the variation for not departing from the purport of the disclosure will be in this public affairs In the range of opening.This variation is not regarded as a departure from spirit and scope of the present disclosure.

Claims

1. a kind of device for the sensing data in associated vehicle, described device include:

Multiple sensors are configured to sensing external object；With

Processor, is electrically connected to the multiple sensor, and the processor is configured that

The sensor data set of the target positioned at the vehicle periphery is obtained using the multiple sensor, wherein the biography Sensor data set includes sensing data；

At least part of the sensing data is selected based on the first information, wherein the first information include target information, It the curvature for the road that the vehicle or the target are travelled and is configured in the type for sensing the sensor of the target At least one；And

The tracking data of the target is generated by being associated with described at least part of the sensing data.

2. device as described in claim 1, wherein the multiple sensor includes radar and camera.

3. device as described in claim 1, wherein the multiple sensor includes front radar, forward sight camera and side view Camera.

4. device as described in claim 1, wherein the sensor data set includes by each in the multiple sensor The sensing data that a sensor obtains.

5. device as described in claim 1, wherein the processor is configured that

Based on the first information, the region for determining the validity of the sensor data set is set；And

Select sensing data corresponding with the region in the sensing data.

6. device as described in claim 1, wherein the target information include: between the vehicle and the target away from From difference, the direction of motion of the target and the target between, the speed of the vehicle and the speed of the target At least one of type.

7. device as described in claim 1, wherein the processor is additionally configured to:

Based on the distance between the vehicle and the target, the area for determining the validity of the sensor data set is set Domain；And

Select sensing data corresponding with the region in the sensing data.

8. device as claimed in claim 7, wherein the processor is configured that

When the distance between the vehicle and the target become bigger than preset distance, increase the region；And

When the distance between the vehicle and the target become smaller than the preset distance, reduce the region.

9. device as described in claim 1, wherein the processor is configured that

Speed based on the vehicle and the difference between the speed of the target are set for determining the sensor data set Validity region；And

Select sensing data corresponding with the region in the sensing data.

10. device as claimed in claim 9, wherein the processor is configured that

When the difference between the speed of the vehicle and the speed of the target becomes larger than predetermined value, increase the region； And

When the difference between the speed of the vehicle and the speed of the target becomes smaller than the predetermined value, reduce the area Domain.

11. device as described in claim 1, wherein the processor is configured that

Based on the curvature of the road, the region for determining the validity of the sensor data set is set；And

Select sensing data corresponding with the region in the sensing data.

12. device as claimed in claim 11, wherein the processor is configured that

When the curvature of the road becomes larger than preset range, increase the region；And

When the curvature of the road becomes smaller than the preset range, reduce the region.

13. device as described in claim 1, wherein the processor is configured that

Based on the direction of motion of the target, the region for determining the validity of the sensor data set is set；And

Select sensing data corresponding with the region in the sensing data.

14. device as claimed in claim 13, wherein the processor is configured that

Increase length of the region in the direction of motion of the target.

15. device as described in claim 1, wherein the processor is configured that

Based on the type of the sensor, the region for determining the validity of the sensor data set is set；And

Select sensing data corresponding with the region in the sensing data.

16. device as described in claim 1, wherein the processor is configured that

Based on the type of the target, the region for determining the validity of the sensor data set is set；And

Select sensing data corresponding with the region in the sensing data.

17. a kind of method for the sensing data in associated vehicle, the described method comprises the following steps:

The sensor data set of the target positioned at the vehicle periphery is obtained using multiple sensors of the vehicle, wherein The sensor data set includes sensing data；

At least part based on first information selection sensing data, wherein the first information includes target information, described It the curvature for the road that vehicle or the target are travelled and is configured in the type for sensing the sensor of the target at least One；And

The tracking data of the target is generated by being associated at least part of the sensing data.

18. method as claimed in claim 17, wherein the sensor data set includes by every in the multiple sensor The sensing data that one sensor obtains.

19. method as claimed in claim 17, wherein selected described in the sensing data extremely based on the first information A part includes: less

Select sensing data corresponding with the region in the sensing data.

20. method as claimed in claim 17, wherein the target information include between the vehicle and the target away from From difference, the direction of motion of the target and the target between, the speed of the vehicle and the speed of the target At least one of type.